/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "spi.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "pwm.h"
#include "dma.h"
#include "timer.h"
#include "display.h"
#include "system.h"
#include "Motor_Ext.h"
#include "timecnt.h"
#include "LogicJudge_Ext.h"
#include "mb.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint32_t u32Temp;
uint16_t u16Temp;
uint8_t  u8Temp;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
//  PWM_Init();
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config(); 

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC1_Init();
  //MX_USART1_UART_Init();
  MX_SPI1_Init();
  /* USER CODE BEGIN 2 */
  PWM_Init();/*用于驱动电机的PWM输出定时�???????*/
  DMA_Init();
  DMA_Enable();
  TIMER3_Init();/*用于测量转�?�的输入捕获定时�???????*/
  TIMER16_17_Init();/*两路用于DAC输出的PWM输出定时�???????*/
  NVIC_Init();
  Systick_Init();
	LCD_Init();
	LCD_Fill(0,0,240,135,LIGHTBLUE);

  HAL_NVIC_EnableIRQ(TIM3_IRQn);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  //HAL_NVIC_EnableIRQ(TIM1_BRK_UP_TRG_COM_IRQn);  
  Systick_Enable();
  /*FreeModbus协议栈初始化*/
  eMBInit( MB_RTU,0x01,0,9600,MB_PAR_NONE );
  eMBEnable();
  LogicJudgeInit();
  MotorInit();
  DelayMs(500);
  /* USER CODE END 2 */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    vLogicJudgeProcess();//业务逻辑判断
    eMBPoll();//FreeModbus协议栈状态机
    // MotorProcess();
    if( 0 == u32GetDisplayDelayCnt() ){
      setDisplayDelayCnt(500);
      Display();//屏幕500毫秒刷新�????�????
    }
    //HAL_UART_Transmit(&huart1,&dat,1,0);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV3;
  RCC_OscInitStruct.PLL.PLLN = 80;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV5;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
//霍尔换向跳变沿中断
void TIM3_IRQHandler(void)
{
    uint16_t phaseCaptureVal = 0;
    xBldcRunMode.u16HallVal = BldcGetHallValue();
    xBldcRunMode.ePhase = BldcHallValToPhase(xBldcRunMode.u16HallVal,xMotorMode.dir);
    if( PHASE_ERROR != xBldcRunMode.ePhase && MotorStStop != eMotorGetState() ){
        BldcPwmControl(xBldcRunMode.ePhase);                
    }

    if( eMotorGetState()== MotorSelfStart )
    {
        xMotorMode.selfStartSwitchCnt++;//自适应负载启动计数器
        setMotorStartCnt(0);
    }

    phaseCaptureVal = TIM3->CCR1;

    xBldcRunMode.phaseTime = phaseCaptureVal;
    xBldcRunMode.phaseTimeBuffer[xBldcRunMode.phaseTimeCnt++] = phaseCaptureVal;
    if( xBldcRunMode.phaseTimeCnt >= 6 )//一个电周期
    {
      xBldcRunMode.phaseTimeCnt = 0;
      xBldcRunMode.OneEPeriodUpdated = 1;
      xMotorMode.speedContEnable = 1;
    }

    setMotorSwitchCnt(500);//100ms不换向认为速度是0
    setLockCurrentCnt(150);
    setLockPhaseCnt(200);

    TIM3->CNT = 0;
    TIM3 -> SR = 0;//清除中断标志位
}

// uint32_t Q32temp;
// int32_t Q31temp;
// int32_t Q30temp;
// uint16_t Q16temp1,Q16temp2,Q16temp3;
// int16_t Q15temp1,Q15temp2; 

/*定点数测试*/
// void QTest(void)
// {
//   Q32temp = 32768 * 26214;
// 	//temp = Q16(0.9)*Q16(0.8);
// 	Q32temp = 58982 * 52429;
//   Q32temp = Q16(0.417)*Q16(0.7);
//   Q32temp = Q16(0.314)*Q16(0.68);

//   //Q16(0.3)*Q15(-0.71) = Q31(-0.213)
//   Q16temp1 = 19661;
//   Q15temp1 = -23265;
//   Q31temp = Q16temp1 * Q15temp1;

//   //Q15(-0.368)*Q15(-0.71) = Q30(0.26128)
//   Q15temp1 = -12058;
//   Q15temp2 = -23265;
//   Q30temp = Q15temp1 * Q15temp2;
  
//   // 0.17/0.73 = 0.233

//   Q16temp1 = 11141;
//   Q16temp2 = 47841;

//   Q32temp = Q16temp1 << 16;

//   Q16temp3 = Q32temp / Q16temp2;
//   // 0.17 + 0.73 = 0.9
//   Q16temp1 = 11141;
//   Q16temp2 = 47841;

//   Q16temp3 = Q16temp1 + Q16temp2;

// }

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
